Hi. Sorry for all mistakes, English is not my native language. I'm migrating one project from Noetic to Foxy right now. I think, that I almost finished but I can't spawn my robot model in gazebo. In terminal I have following message:

[gazebo-1] [Err] [Model.cc:1390] Unable to find link[link]
[spawn_entity.py-4] [INFO] [1669310955.174024268] [urdf_spawner]: Calling service /spawn_entity
[gazebo-1] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gazebo-1] [INFO] [1669310955.902945744] [camera_controller]: Publishing camera info to [/minicar/camera/camera_info]
[gazebo-1] [INFO] [1669310955.922946081] [depth_camera_controller]: Publishing camera info to [/minicar/camera/depth/camera_info]
[gazebo-1] [INFO] [1669310955.924316083] [depth_camera_controller]: Publishing depth camera info to [/minicar/camera/depth/depth/camera_info]
[gazebo-1] [INFO] [1669310955.925290837] [depth_camera_controller]: Publishing pointcloud to [/minicar/camera/depth/points]
[gazebo-1] [WARN] [1669310956.249832311] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[gazebo-1] [WARN] [1669310956.264089083] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[spawn_entity.py-4] [INFO] [1669310956.568629894] [urdf_spawner]: Spawn status: SpawnEntity: Successfully spawned entity [minicar]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 16297]
[gazebo-1] [INFO] [1669310956.714139377] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gazebo-1] [INFO] [1669310956.743369070] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gazebo-1] [INFO] [1669310956.743515494] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gazebo-1] [INFO] [1669312007.159147376] [gazebo_ros2_control]: Loading parameter file /home/mikita/ros2_ws/install/minicar_control/share/minicar_control/config/control.yaml
[gazebo-1] 
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 26077]
[gazebo-1] [INFO] [1669312007.177105071] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gazebo-1] [INFO] [1669312007.180790724] [gazebo_ros2_control]: Recieved urdf from param server, parsing...
[gazebo-1] [ERROR] [1669312007.183103149] [gazebo_ros2_control]: Error parsing URDF in gazebo_ros2_control plugin, plugin not active : no attribute name in ros2_control tag

In ROS1 everything is working as it should so I have no idea what link does gazebo unable to find. Sorry, but I was asked to not include full xacro description of the robot, but if you will need something specific I'll update the question. Appreciate any help.